version: 66.12
glider: 124
mission: 17
dive: 236
start: 7 22 114 13 41 0
data:
$ID,124
$MISSION,17
$DIVE,236
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,225
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,40
$T_MISSION,55
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,185
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51915
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,40
$KALMAN_USE,1
$HD_A,0.0021200001
$HD_B,0.0104
$HD_C,4.7500002e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-310298.59
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3900
$C_PITCH,2410
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,17
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,135
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,183
$ROLL_MAX,3883
$ROLL_DEG,40
$C_ROLL_DIVE,1920
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,650
$VBD_MAX,4045
$C_VBD,2862
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,117
$AH0_10V,65
$MINV_24V,22
$MINV_10V,9
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-21.504185
$PRESSURE_SLOPE,0.0001157801
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,120
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043373066
$SEABIRD_T_H,0.00062566844
$SEABIRD_T_I,2.3683922e-05
$SEABIRD_T_J,2.5145571e-06
$SEABIRD_C_G,-9.8304396
$SEABIRD_C_H,1.0973777
$SEABIRD_C_I,-0.001747182
$SEABIRD_C_J,0.00021959859
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,220714,133405,4725.473,-12221.980,32,1.2,36,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-69.1
$GPS2,220714,133955,4725.501,-12222.003,15,1.5,15,18.1
$SPEED_LIMITS,0.289,0.304
$TGT_NAME,NORTH
$TGT_LATLONG,4725.800,-12222.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.030,0.287
$KALMAN_X,-15523.0,-227.9,-218.3,14757.4,-37.4
$KALMAN_Y,20392.4,-488.5,-181.3,-17941.8,173.7
$MHEAD_RNG_PITCHd_Wd,352.9,552,-26.4,-16.667,-30.00,1390
$D_GRID,172
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.75,-161.4,92,1931,1529,1751,0.0,0.0,0,94,0.00,0.00,-70.28,0.000,16386,0.000,0.000,92,1931,2845,2876,2814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.77,-180.8,92,1931,2876,2815,3.5,-2.0,7,133,8.52,0.00,-20.75,0.000,18694,0.258,0.000,2023,1893,3602,3673,3531,0,0,0,0,0,0,25.22,28.83,26.60
$GC,315,-1.67,-180.8,2023,1894,3673,3533,53.4,-23.1,30,321,0.10,2.28,0.00,0.000,2308,0.214,0.054,2046,3326,3603,3674,3533,0,0,0,0,0,0,26.15,26.05,28.83
$GC,395,-1.67,-180.8,2046,3326,3673,3533,70.9,-20.5,45,402,0.00,2.25,0.00,0.000,1030,0.000,0.045,2046,1914,3603,3673,3533,0,0,0,0,0,0,28.83,26.20,28.83
$GC,581,-1.67,-180.8,2046,1914,3671,3533,108.6,-19.5,64,587,0.00,2.17,0.00,0.000,516,0.000,0.054,2047,507,3603,3673,3533,0,0,0,0,0,0,28.83,26.17,28.83
$GC,650,-1.67,-180.8,2046,507,3671,3533,123.0,-20.9,77,657,0.00,2.22,0.00,0.000,1030,0.000,0.044,2046,1912,3602,3671,3533,0,0,0,0,0,0,28.83,26.25,28.83
$GC,837,-1.67,-180.8,2046,1912,3670,3533,158.1,-18.8,96,842,0.00,2.22,0.00,0.000,260,0.000,0.056,2046,3329,3602,3671,3533,0,0,0,0,0,0,28.83,26.16,28.83
$GC,875,-1.67,-180.8,2046,3329,3670,3533,165.3,-18.2,103,882,0.00,2.25,0.00,0.000,1030,0.000,0.045,2046,1912,3601,3670,3533,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,908,begin apogee
$GC,916,-0.47,0.0,2046,2008,3670,3533,172.1,-18.9,107,1071,0.85,0.00,142.88,0.573,10246,0.145,0.000,2307,2008,2859,2767,2951,0,0,0,0,0,0,25.66,28.83,24.44
$STATE,1073,end apogee,CONTROL_FINISHED_OK
$STATE,1073,begin climb
$GC,1076,1.77,180.8,2306,2008,2766,2951,179.3,0.0,123,1234,1.42,2.45,143.52,0.549,10756,0.077,0.053,2810,582,2120,1949,2292,0,0,0,0,0,0,25.34,25.17,24.35
$GC,1248,1.81,217.4,2810,582,1949,2290,167.5,14.0,149,1284,0.00,2.33,30.20,0.532,9222,0.000,0.042,2810,2005,1973,1798,2149,0,0,0,0,0,0,28.83,25.41,24.42
$GC,1473,1.81,217.4,2810,2005,1804,2148,128.0,17.6,175,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2005,1976,1805,2148,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1654,1.82,219.0,2809,2005,1805,2148,97.8,16.6,193,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2005,1977,1807,2148,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1844,1.89,221.8,2810,2005,1805,2148,65.7,16.5,212,1857,0.00,2.35,4.47,0.423,8708,0.000,0.054,2819,591,1958,1790,2127,0,0,0,0,0,0,28.83,26.14,24.75
$GC,1870,1.89,221.8,2819,591,1793,2127,60.9,17.1,216,1877,0.00,2.22,0.00,0.000,1030,0.000,0.042,2820,2002,1960,1794,2127,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2056,1.99,238.2,2819,2002,1795,2127,31.8,15.5,235,2074,0.10,2.28,11.25,0.477,10500,0.103,0.052,2865,3411,1888,1724,2052,0,0,0,0,0,0,26.50,26.17,25.10
$GC,2098,1.99,238.2,2865,3411,1725,2051,24.6,18.0,242,2105,0.12,2.28,0.00,0.000,5126,0.169,0.046,2844,1983,1888,1726,2051,0,0,0,0,0,0,25.95,26.17,28.83
$STATE,2231,end climb,SURFACE_DEPTH_REACHED
$STATE,2231,begin surface coast
$FINISH,0.8,1.020843
$STATE,2252,end surface coast,CONTROL_FINISHED_OK
$STATE,2252,begin surface
$SM_CCo,2274,24.45,0.049,0,0,1639,300.00
$SM_GC,1.45,7.38,0.10,24.45,0.047,0.106,0.049,94,1914,1639,-10.58,0.76,300.00,0,0,0,0,0,0,26.10,26.46,26.21
$IRIDIUM_FIX,4707.04,-12222.91,240921,232345
$TT8_MAMPS,0.028462,0.028462
$HUMID,65.86
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.50
$XPDR_PINGS,12
$SC_FREEKB,3929120
$24V_AH,24.35,15.804
$10V_AH,9.53,9.411
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.500,27.600,332.325,24.450,0.000,0.000,0.000,175.975,4.750,0.000,16.446,562.986,865.860,426.746,598.754,210.458,33.282,884.532,0.000,401.175,0.000,13.241,0.000
$DEVICE_MAMPS,257.805,106.335,572.985,48.960,0.000,0.000,0.000,116.280,420.000,0.000,32.960,14.710,2.190,14.710,40.920,49.910,65.640,16.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2263.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.438,0.000,0.000,0.000
$MEM,203716
$DATA_FILE_SIZE,6800,258
$CAP_FILE_SIZE,51077,0
$CFSIZE,260034560,242601984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2800.53,0x239dd2,7,5
$CURRENT,0.111,310.3,1
$GPS,220714,142013,4725.931,-12222.106,9,1.9,9,18.1